Ahlqvist, Stefan

Forssell, Urban

Abstract [en]

In the presented sensor fusion approach, centralized ﬁltering of related sensor signals is used to improve and correct low price sensor measurements. From this, we compute high-quality state information as drift-free yaw rate and exact velocity (accounting for unknown tire radius and slipping wheels on 4WD vehicles). The basic tool here is a Kalman ﬁlter supported by change detection for sensor diagnosis. Results and experience of real-time implementations are presented.